Interface assembly for controlling orientation of robotically controlled medical instrument

Abstract

Interface assemblies for controlling an orientation of a working instrument of a robotic medical instrument system. A base member is coupled to a distal end of an instrument such as a robotically controllable catheter. A spacer element is retained between the base member and a platform member, which is movable relative to the base member about the spacer element. One or more control elements extending through a base member aperture can be used to control an orientation of the platform member and working instrument.

1 . An interface assembly for controlling an orientation of a working instrument of a robotic medical instrument system, comprising:
 an elongate instrument;   a base member coupled to a distal end of the elongate instrument;   a spacer element;   a platform member, wherein the spacer element is retained between the base member and the platform member, the platform member being movable relative to the base member about the spacer element; and   a control element extending through an aperture defined by the base member and extending between the base member and the platform member, wherein an orientation of the platform member relative to the base member is controllably adjustable by manipulation of the control element.   
     
     
         2 . The assembly of  claim 1 , wherein the platform member is pivotable about the spacer element. 
     
     
         3 . The assembly of  claim 1 , wherein each of the base member and the platform member define a respective concave cavity, the spacer element occupying the respective concave cavities. 
     
     
         4 . The assembly of  claim 1 , wherein each of the base member, the spacer element, and the platform member defines a lumen to collectively define a central lumen in communication with a lumen defined by the elongate instrument. 
     
     
         5 . The assembly of  claim 1 , wherein the spacer element is a spherical element. 
     
     
         6 . The assembly of  claim 1 , comprising a plurality of control elements extending through respective apertures defined by the base member and terminating at the platform member, wherein an orientation of the platform member relative to the base member is controllably adjustable by manipulation of one or more control elements. 
     
     
         7 . The assembly of  claim 1 , further comprising a working instrument adapter coupled to the platform member. 
     
     
         8 . The assembly of  claim 1 , further comprising a spring extending between the base member and the platform member, the spring applying a force to bias an orientation of the platform member. 
     
     
         9 . The assembly of  claim 8 , wherein the control element extends through the spring. 
     
     
         10 . The assembly of  claim 1 , wherein the control element extends between the base member and the platform member at an angle relative to a longitudinal axis of the control element proximal of the base member. 
     
     
         11 . The assembly of  claim 10 , wherein the control element extends through misaligned apertures defined by the base member and the platform member. 
     
     
         12 . The assembly of  claim 10 , wherein the angle is at least about 30 degrees. 
     
     
         13 . The assembly of  claim 6 , the control elements each extending between the base member and the platform member at an angle relative to a longitudinal axis of the respective control element proximal of the base member. 
     
     
         14 . The assembly of  claim 13 , wherein at least two control elements overlap or cross each other between the base member and platform member. 
     
     
         15 . The assembly of  claim 13 , wherein the angle is at least about 30 degrees. 
     
     
         16 . The assembly of  claim 1 , wherein the control element extends at least partially across a distal facing surface of the platform member. 
     
     
         17 . A multi-level interface assembly for controlling an orientation of a working instrument of a robotic medical instrument system, comprising:
 a base member coupled to a distal end of an elongate instrument of the robotic medical instrument system;   a proximal platform member;   a first spacer element retained between the base member and the proximal platform member;   a distal platform member;   a second spacer element retained between the proximal platform member and the distal platform member, the distal platform member being movable relative to the base member about the second spacer element; and   a control element extending through an aperture defined by the base member and extending between the base member and the distal platform member, wherein an orientation of the distal platform member and an orientation of the working instrument are controllably adjustable by manipulation of the control element.   
     
     
         18 . The assembly of  claim 17 , wherein each of the base member, the first spacer element, the proximal platform member, the second spacer element and the distal platform member defines a lumen to collectively define a central lumen in communication with a lumen defined by the elongate instrument. 
     
     
         19 . The interface apparatus of  claim 17 , wherein the spacer element is spherical element. 
     
     
         20 . The assembly of  claim 17 , wherein an orientation of the proximal platform and the distal end of the elongate instrument are controllably adjustable by manipulation of the control element. 
     
     
         21 . The assembly of  claim 17 , further comprising a first spring extending between the base member and the proximal platform member, the first spring applying a force to bias an orientation of the proximal platform member, and a second spring extending between the proximal platform member and the distal platform member, the second spring applying a force to bias an orientation of the distal platform member.